Felix Exner

To comment on that I would need the trajectory that is sent to the robot. I know that this is a little hard to do on Humble, as actions aren't...

Hm, from my understanding that should result in a trajectory slowdown, but not a deviation or even an overshoot. That is exactly why we have added speed scaling to the...

Thank you for your continued feedback. I can reproduce this with a slow TCP speed safety setting. I'll need to look into what's happening there. However, in my case the...

May I though suggest that as a workaround you can use the `passthrough_trajectory_controller`. I couldn't reproduce the issue with that. It uses the same trajectory interpolation method as the scaled...

> but it did not work What does that mean exactly? I've tested things on Humble as explained in https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1537#issuecomment-3405917348

OK, from a ROS standpoint everything seems fine. Does the teach pendant say anything? The log section should look something like this:

You didn't include the joint names in your feedback output. The order of the joint array doesn't necessarily have to be the same. Your joint state says: ``` -1.5016472975360315 shoulder_lift_joint...

We do indeed have it on our plate. There is a [beta branch in the client library](https://github.com/UniversalRobots/Universal_Robots_Client_Library/tree/torque_control) already and an implementation here in the driver will follow in the next...

Please see #1411 for a first implementation. That needs some polishing, hence the experimental state for now.

This got merged in #1411